Non-Integer Motion Control: Application to an XY Cutting Table

Abstract

A new approach to path tracking using non integer order differentiation applied to non-time-varying plants is proposed with its application on a XY cutting table. It pennits the generation of optimal movement reference-input leading to a minimum path completion time, taking into account both the physical constraints of the actuators (maximum velocity, acceleration and torque) and the bandwidth of the closedloop system. This reference-input results from the step response of a non integer order filter whose frequency response is that of an implicit generalized derivative filter. This new approach is complementary to CRONE control which synthesizes a robust control law, and which is based on real or complex non-integer order differentiation. The reference-input obtained is compared with spline function. Both are applied to an XY cutting table and actuator outputs compared.